if displayed_img is None:
displayed_img = plt.imshow(img_rgb)
else:
displayed_img.set_data(img_rgb)
plt.pause(0.01)
if __name__ == '__main__':
rospy.init_node('visualize_pick_json')
pub = rospy.Publisher('~output', Image, queue_size=10)
parser = argparse.ArgumentParser()
parser.add_argument('json',
help='JSON file with bin_contents and work_order')
parser.add_argument('-d',
'--display',
action='store_true',
help='Display with a window')
args = parser.parse_args(rospy.myargv()[1:])
json = args.json
display = args.display
displayed_img = None
img = jsk_apc2016_common.visualize_pick_json(json)
br = cv_bridge.CvBridge()
imgmsg = br.cv2_to_imgmsg(img, encoding='bgr8')
timer = rospy.Timer(rospy.Duration(0.1), visualize_cb)
rospy.spin()
if displayed_img and displayed_img._imcache is None:
plt.close()
if displayed_img is None:
displayed_img = plt.imshow(img_rgb)
else:
displayed_img.set_data(img_rgb)
plt.pause(0.01)
if __name__ == '__main__':
rospy.init_node('visualize_pick_json')
pub = rospy.Publisher('~output', Image, queue_size=10)
parser = argparse.ArgumentParser()
parser.add_argument('json',
help='JSON file with bin_contents and work_order')
parser.add_argument('-d', '--display', action='store_true',
help='Display with a window')
args = parser.parse_args(rospy.myargv()[1:])
json = args.json
display = args.display
displayed_img = None
img = jsk_apc2016_common.visualize_pick_json(json)
br = cv_bridge.CvBridge()
imgmsg = br.cv2_to_imgmsg(img, encoding='bgr8')
timer = rospy.Timer(rospy.Duration(0.1), visualize_cb)
rospy.spin()
def test_visualize_pick_json():
json_file = osp.join(_this_dir, 'data', 'pick_layout_1.json')
img = jsk_apc2016_common.visualize_pick_json(json_file)
assert_equal(img.shape, (2435, 2067, 3))
assert_equal(img.dtype, np.uint8)
